title: Comparison on intracochlear disturbances between drilling a manual and robotic cochleostomy.
abstract: During cochlear implantation, hearing preservation is a concern. Minimizing disturbances to the cochlea and protection of the underlying endosteal membrane during the formation of a cochleostomy are considered important factors. The robotic micro-drill system tested in this article is the first example of an autonomous surgical drill successfully producing a cochleostomy, which keeps the underlying endosteal membrane intact. This study compares induced disturbances within the cochlea during formation of cochleostomy using the robotic micro-drill with that of conventional manual drilling. The disturbance of the endosteal membrane is measured using a Microscope Scanning Vibrometer at a third window, produced in the cochlea. Results show that the highest velocity amplitude measured was associated with manual drilling technique. The robotic micro-drill technique produced only about 1% of the peak velocity amplitude seen in manual drilling and exhibited much more uniform behaviour, while keeping the underlying membrane intact. The technique applied when using the robotic drill could be a major step in reducing the trauma to the cochlea, by reducing disturbance levels.
authors.affiliation: Brunel Institute for Bioengineering, Brunel University, Uxbridge, UK. masoud.zokaassadi@brunel.ac.uk
authors.forename: Masoud Z
authors.initials: MZ
authors.lastname: Assadi
authors.forename: Xinli
authors.initials: X
authors.lastname: Du
authors.forename: James
authors.initials: J
authors.lastname: Dalton
authors.forename: Scott
authors.initials: S
authors.lastname: Henshaw
authors.forename: Chris J
authors.initials: CJ
authors.lastname: Coulson
authors.forename: Andrew P
authors.initials: AP
authors.lastname: Reid
authors.forename: David W
authors.initials: DW
authors.lastname: Proops
authors.forename: Peter N
authors.initials: PN
authors.lastname: Brett
mesh_terms: D000818:Animals; D003051:Cochlea / Q000293:injuries / Q000503:physiopathology* / Q000601:surgery*; D019929:Cochlear Implantation / Q000009:adverse effects / Q000379:methods*; D066298:In Vitro Techniques; D008866:Microsurgery / Q000009:adverse effects / Q000379:methods*; D019060:Minimally Invasive Surgical Procedures / Q000009:adverse effects / Q000379:methods*; D012371:Robotics / Q000379:methods*; D025321:Surgery, Computer-Assisted / Q000009:adverse effects / Q000379:methods*; D013552:Swine; D016896:Treatment Outcome; D014732:Vibration / Q000009:adverse effects
keywords: Microscope Scanning Vibrometer; Robotic micro-drill; cochleostomy; disturbances